CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)

project(autonomy_engine)

## Try to compile with newer versions of C++
include(CheckCXXCompilerFlag)
#CHECK_CXX_COMPILER_FLAG("-std=c++20" COMPILER_SUPPORTS_CXX20)
CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17)
#if(COMPILER_SUPPORTS_CXX20)
#    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++20")
#    set(CMAKE_CXX_STANDARD 20)
if(COMPILER_SUPPORTS_CXX17)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
    set(CMAKE_CXX_STANDARD 17)
else()
    message(WARNING "The compiler ${CMAKE_CXX_COMPILER} has no C++17 support. Please use a different C++ compiler.")
endif()

## enforcing cleaner code by adding -Wall and -Werror, the compiler will not ignore warnings anymore
add_definitions(-Wall -Werror)

# Optimization flags
set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g3 -Wall -Wextra -Werror -Wuninitialized -Wmaybe-uninitialized -pedantic -fno-omit-frame-pointer -fsanitize=address")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops")

# Define build type
if (NOT CMAKE_BUILD_TYPE)
  set(CMAKE_BUILD_TYPE "Release")
  message(STATUS "UNDEFINED CMAKE_BUILD_TYPE, BUILDING IN RELEASE")
  message(STATUS "CMAKE_CXX_FLAGS_RELEASE: ${CMAKE_CXX_FLAGS_RELEASE}")
else()
    if(CMAKE_BUILD_TYPE STREQUAL "Debug")
        message(STATUS "CMAKE_CXX_FLAGS_DEBUG: ${CMAKE_CXX_FLAGS_DEBUG}")
    elseif(CMAKE_BUILD_TYPE STREQUAL "Release")
        message(STATUS "CMAKE_CXX_FLAGS_RELEASE: ${CMAKE_CXX_FLAGS_RELEASE}")
    endif()
endif ()

## Display compiler flags
message(STATUS "CMAKE_CXX_FLAGES: ${CMAKE_CXX_FLAGS}")

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  ros_watchdog
  watchdog_msgs
  mission_sequencer
  std_msgs
  message_generation
)

## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED)

## Display packages version
message(STATUS "BOOST VERSION: " ${Boost_VERSION})

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
add_message_files(
  FILES
  LogMessage.msg
)

## Generate services in the 'srv' folder
#add_service_files(
#  FILES
#)

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
  std_msgs
)

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
#generate_dynamic_reconfigure_options(
#  cfg/autonomy.cfg
#)

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  INCLUDE_DIRS include ${catkin_INCLUDE_DIRS}
  CATKIN_DEPENDS roscpp message_runtime std_msgs
  LIBRARIES custom_libraries
  DEPENDS #system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIR}
)

## List third party libraries used by all binaries
list(
  APPEND thirdparty_libraries
  ${catkin_LIBRARIES}
  ${Boost_LIBRARIES}
  ${EIGEN3_LIBRARIES}
)

## List custom libraries inside lib folder
list(
  APPEND lib_sources
  src/waypoints_parser/waypoints_parser.cpp
  src/timer/timer.cpp
  src/state_machine/state.cpp
  src/state_machine/states/hold.cpp
  src/state_machine/states/land.cpp
  src/state_machine/states/initialization.cpp
  src/state_machine/states/failure.cpp
  src/state_machine/states/nominal.cpp
  src/state_machine/states/undefined.cpp
  src/state_machine/states/termination.cpp
  src/state_machine/states/preflight.cpp
  src/state_machine/states/start_mission.cpp
  src/state_machine/states/perform_mission.cpp
  src/state_machine/states/mission_iterator.cpp
  src/state_machine/states/end_mission.cpp
  src/autonomy_core/autonomy.cpp
  src/autonomy_core/mission.cpp
)

## Declare a C++ library
add_library(custom_libraries SHARED ${lib_sources})
add_dependencies(custom_libraries ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(autonomy src/autonomy_node.cpp src/autonomy_core/autonomy.cpp)
add_dependencies(autonomy ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(autonomy ${thirdparty_libraries} custom_libraries)